New lotus picking boat

Abstract

The present invention relates to the field of lotus pod picking technology, and in particular to a novel lotus pod picking boat, comprising a conveyor belt and a cutting roller, wherein the cutting roller is mounted on a bracket, the bracket is mounted on a spring, and an auxiliary cutting structure is also included. The cutting roller cuts the lotus pod, and the lotus pod falls onto the conveyor belt, and then the conveyor belt transports the lotus pod to the rear cabin, and the miscellaneous leaves are blown away by the duct fan. The movement of each component is controlled by a single-chip microcomputer to achieve automatic picking. The lotus pod picking boat of the present invention can automatically, quickly and effectively pick lotus pods, which not only ensures the safety of the staff but also improves the work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of lotus pod picking, and in particular to a novel lotus pod picking boat. Background Art

[0002] At present, the lotus pods are mainly picked by people on the shore, by boat or by people directly in the water. These methods have great disadvantages: limited picking range, slow work efficiency, uncertain water conditions in the lake, etc. With the development of society, people are in urgent need of a more advanced and efficient picking tool to replace human picking. At present, there are no machines or equipment specifically for picking lotus pods on the market, only some auxiliary devices, which generally have the characteristics of single function, low work efficiency and poor controllability. Summary of the invention

[0003] The problem to be solved by the present invention is to overcome the deficiencies of the background technology and provide a novel lotus pod picking boat.

[0004] The present invention is achieved through the following technical solutions:

[0005] A novel lotus pod picking boat comprises a hull, which comprises a cabin and a deck. A conveyor belt is installed on the deck, one end of the conveyor belt extends out of the hull from the deck, and the other end of the conveyor belt is located at the cabin. Springs and electric push rods are symmetrically fixed on the decks on the left and right sides of the conveyor belt, and a bracket is fixed to the top of the springs on both sides. The bracket consists of a support rod A along the width direction of the hull and support rods B respectively perpendicular to the two ends of the support rod A. The upper end of the electric push rod is fixed to the support rod B through a rotating shaft B, and the support rod B can rotate around the rotating shaft B; a cutting roller is fixed to the inner side of the front end of the two support rods B through a bearing seat, and the cutting roller comprises two roller brackets, a plurality of bidirectional blades are fixed between the roller brackets, and a rotating shaft C is fixed on the roller bracket, and the rotating shaft C is fixed in the bearing seat. Any rotating shaft C is connected to motor C, and motor C drives the cutting roller to rotate; a camera bracket is also fixed on the deck, and a camera A is installed on the camera bracket; the motor of the hull, the transmission motor of the conveyor belt, motor C, and the motor of the electric push rod are all connected with relays, and each relay is respectively connected to the single-chip microcomputer on the hull; the single-chip microcomputer is connected to the steering gear of the hull, and the single-chip microcomputer is wirelessly connected to a remote control; the camera A includes an image acquisition module and an image micro-processing module, wherein the image acquisition module acquires the lotus pod image and transmits the acquired lotus pod image to the image micro-processing module, and the image micro-processing module performs image processing, target detection, target motion prediction, and target tracking on the acquired lotus pod image, and the processing result is a positioning signal of the lotus pod image, and the positioning signal is sent to the single-chip microcomputer.

[0006] Furthermore, a number of infrared sensors are installed at different positions on the upper part of the cabin. The infrared sensors are used to determine whether the cabin is full. If the cabin is full, the infrared sensor detecting the full cabin will send a full cabin signal to the microcontroller. The microcontroller receives the full cabin signal to control the cutting roller, conveyor belt, and ducted fan to stop working, and control the electric push rod to drop to the lowest point.

[0007] Furthermore, the single chip microcomputer is connected to an alarm, and when the single chip microcomputer receives a full tank signal from the infrared sensor, the single chip microcomputer triggers the alarm to sound an alarm.

[0008] Furthermore, a camera B is installed on the camera bracket, and the camera B is wirelessly connected to the mobile phone, and the camera B transmits the image to the mobile phone in real time; a GPS locator is installed on the hull, and the GPS locator is used to locate the position of the hull and send the positioning signal to the mobile phone.

[0009] Furthermore, an auxiliary cutting structure is fixed to the front end of the support rods B on both sides, and the auxiliary cutting structure includes an auxiliary cutting rod A fixed downward on the outer side of the front ends of the two support rods B, and a horizontal auxiliary cutting rod B is fixed between the lower ends of the auxiliary cutting rods A; the vertical distance between the auxiliary cutting rod B and the rotating shaft C is greater than the radius of the cutting roller.

[0010] Furthermore, a solar panel is installed on the hull, the solar panel is connected to a photovoltaic controller, the photovoltaic controller is connected to a battery, the battery is connected to the motor of the electric push rod, the motor C, the transmission motor, the motor of the hull, and the steering gear respectively, and the solar panel serves as the energy supply for the entire picking boat.

[0011] Furthermore, a ducted fan is installed at a position corresponding to the end of the conveyor belt on one side of the cabin, the ducted fan is connected to the single-chip microcomputer through an electric regulator, and the ducted fan is connected to a battery.

[0012] Preferably, the roller bracket of the cutting roller is in the shape of a triangle, and a bidirectional blade is fixed between the three vertices of the corresponding roller bracket.

[0013] Preferably, the remote control and the single-chip microcomputer are wirelessly connected via an NRF chip.

[0014] Preferably, the camera A adopts an OpenMV camera.

[0015] The lotus pod picking boat of the present invention can automatically, quickly and effectively pick lotus pods and has good controllability, thereby ensuring the safety of workers and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2It is a side structural schematic diagram of the present invention.

[0018] In the figure, 1 is the hull, 2 is the cabin, 3 is the conveyor belt, 4 is the deck, 5 is the spring, 6 is the electric push rod, 7 is the support rod A, 8 is the support rod B, 9 is the roller bracket, 10 is the bidirectional blade, 11 is the rotating shaft C, 12 is the motor C, 13 is the auxiliary cutting rod A, 14 is the auxiliary cutting rod B, 15 is the solar panel, 16 is the duct fan, 17 is the camera bracket, 18 is the camera A, and 19 is the camera B. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "inside", "outside", "upper", "lower", "front", "back", etc. are based on the positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] The present invention provides a new type of lotus pod picking boat, comprising a hull 1, wherein the hull 1 is provided with a cabin 2 and a deck 4. A conveyor belt 3 is installed on the deck 4, and one end of the conveyor belt 3 extends out of the hull 1 from the deck 4, that is, the conveyor belt 3 extends out of a part of the hull 1. The other end of the conveyor belt 3 is located at the cabin 2, and the purpose is to ensure that the picked lotus pods just fall into the cabin 2. The installation of the conveyor belt 3 belongs to the known technology, and only a brief introduction is given here: the conveyor belt 3 is fixed on the deck 4 through a bearing support, and the supporting roller of the conveyor belt 3 is connected to the transmission motor through a coupling, and the conveyor belt 3 is driven to rotate by the transmission motor. Springs 5 ​​are symmetrically fixed on the deck 4 on the left and right sides of the conveyor belt 3, and the springs 5 ​​are preferably made of spring steel, and a bracket is fixed on the top of the springs 5 ​​on the left and right sides. The bracket includes a support rod A7 and two support rods B8, and the two support rods B8 are respectively fixed at the two ends of the support rod A7 and are perpendicular to the support rod A7, and the support rod A7 is along the width direction of the hull 1. Electric push rods 6 are also symmetrically installed and fixed on the decks 4 on the left and right sides of the conveyor belt 3. The electric push rods 6 are located in front of the springs 5. For the convenience of description, the direction in which the deck 4 extends outside the hull 1 is called the front, and the direction in which the deck 4 extends toward the cabin 2 is called the rear. There is a shaft hole on the support rod B8, and a shaft B passes through the bolt hole on the upper end of the electric push rod 6 and the shaft hole on the support rod B8. Then the two ends are fastened by bolts, and the upper end of the electric push rod 6 is fixed to the support rod B8 through the shaft B, and the support rod B8 can rotate around the shaft B. In this embodiment, the electric push rod 6 is fixed in the middle position of the support rod B8.

[0021] A cutting roller is fixed on the inner side of the front end of the support rod B8 on the left and right sides. The cutting roller includes two roller brackets 9. A number of bidirectional blades 10 are fixed between the roller brackets 9. The bidirectional blades 10 are rectangular in shape. The bidirectional blades 10 mean that both ends of the blades in the width direction have cutting functions. A rotating shaft C11 is fixedly connected to both roller brackets 9. The rotating shaft C11 is fixed in the bearing seat, and the bearing seat is fixed on the support rod B8. The entire cutting roller is located on the inner side of the two support rods B8, that is, when the cutting roller rotates, it rotates in the space between the two support rods B8. Any of the above-mentioned rotating shafts C11 is connected to a motor C12, and the motor C12 is used to drive the cutting roller to rotate. The rotating shaft C11 is connected to the motor C12 through a coupling or a belt gear, or other existing connection methods are also acceptable. This embodiment briefly introduces that the motor C12 and the rotating shaft C11 are driven by a belt gear. Because it is common knowledge, it is not described in detail here: a driven gear is installed on the rotating shaft C11, and a driving gear is installed on the motor shaft of the motor C12. The driving gear and the driven gear are connected by a belt, and the motor C12 is fixed on the support rod B8. The front end of the rotating surface of the above-mentioned cutting roller extends out of the head end of the conveyor belt 3.

[0022] The above-mentioned cutting roller is used for cutting lotus pods. In order to make the cutting faster and more effective, as a preferred solution, this embodiment also adds an auxiliary cutting structure. The auxiliary cutting structure is also fixed at the front end of the support rods B8 on both sides. Unlike the cutting roller, the auxiliary cutting structure is fixed on the outside of the front end of the support rods B8 on both sides. Specifically, the auxiliary cutting structure includes auxiliary cutting rods A13 respectively fixed downward on the outside of the front ends of the two support rods B8, and a horizontal auxiliary cutting rod B14 is fixed between the lower ends of the two auxiliary cutting rods A13. The auxiliary cutting rod A13 and the auxiliary cutting rod B14 together constitute the auxiliary cutting structure. The vertical distance between the auxiliary cutting rod B14 and the rotating shaft C11 is greater than the radius of the cutting roller, which means that the distance that the auxiliary cutting rod B14 extends out of the hull 1 is greater than the distance that the cutting roller extends out of the hull 1, and the auxiliary cutting rod B14 is located in front of the rotating surface of the cutting roller. The auxiliary cutting structure is used to support the lotus stem with the auxiliary cutting rod B14 during cutting, which is equivalent to controlling the lotus stem, and the upper cutting roller can cut more naturally, quickly and effectively.

[0023] Preferably, the bracket and auxiliary cutting structure described above are made of perforated angle steel or perforated angle iron. The selection of perforated angle steel or perforated angle iron can make the manufacture of the bracket and the auxiliary cutting structure simpler and faster, and can also make the fixing of each structure simpler and faster, because the openings on the perforated angle steel or perforated angle iron can be used to conveniently fix the various structures together. For example, the openings of the auxiliary cutting rod A13 and the auxiliary cutting rod B14 are aligned, and then the auxiliary cutting rod A13 and the auxiliary cutting rod B14 can be fixed together by installing bolts at the openings. The motor C12 and the like can also be conveniently fixed to the support rod B8 through the openings. Of course, the various parts of the bracket and the various parts of the auxiliary cutting structure can also be directly welded together, and the existing fixing methods are all within the protection scope of the present invention.

[0024] Since the cutting roller will cut off the lotus pods and miscellaneous leaves such as lotus leaves together during the picking process, the embodiment is further preferred to install a ducted fan 16 on one side of the cabin 2, the ducted fan 16 is directly opposite to the end of the conveyor belt 3, and the ducted fan 16 adjusts the appropriate air volume, and when miscellaneous leaves are transported, they will be blown into the water by the ducted fan 16, and will not fall into the cabin 2. The ducted fan 16 is connected to the electric regulator, and the electric regulator is connected to the single-chip microcomputer.

[0025] A camera bracket 17 is also fixed on the deck 4, and a camera A18 is installed on the camera bracket 17. The camera bracket 17 of this embodiment is fixed behind the support rod A7. Camera A18 includes an image acquisition module and an image microprocessing module, wherein the image acquisition module acquires the lotus pod image and transmits the acquired lotus pod image to the image microprocessing module, and the image microprocessing module performs image processing, target detection, target motion prediction, and target tracking on the acquired lotus pod image. The processing result is the positioning signal of the lotus pod image, that is, the two-dimensional coordinate value of the acquired lotus pod image, and the positioning signal is sent to the single-chip microcomputer on the hull 1. In this embodiment, the camera A18 preferably adopts an OpenMV camera. Camera A18 sends the lotus pod positioning signal to the single-chip microcomputer, and the single-chip microcomputer determines the position of the lotus pod according to the two-dimensional coordinate value and controls the hull 1 to approach the lotus pod for picking.

[0026] In order to enable the staff to see the picking situation more conveniently and in real time, a camera B19 is also installed on the camera bracket 17. The camera B19 is wirelessly connected to the mobile phone. The camera B19 transmits the image to the mobile phone in real time, and the staff can monitor the picking situation in time through the mobile phone. A GPS locator is also installed on the hull 1. The GPS locator is used to locate the position of the hull 1 and send the hull 1 positioning signal to the mobile phone. When the picking is completed, if the picking boat is not within the field of vision of the staff, the remote control can be controlled according to the positioning signal sent by the GPS locator to make the picking boat return.

[0027] The single-chip microcomputer is the control system of the picking boat. The single-chip microcomputer can control the movement and steering of the hull 1, and can control the operation of the conveyor belt 3, the cutting roller, the electric push rod 6, and the duct fan 16. The transmission motor of the conveyor belt 3, the motor of the hull 1, the motor C12 of the cutting roller, and the motor of the electric push rod 6 are all connected with relays, and each relay is connected to the single-chip microcomputer respectively. The single-chip microcomputer is also connected to the steering gear of the hull 1, so that the single-chip microcomputer controls the movement of the hull 1 by controlling the relay, controls the direction of the hull 1 by controlling the steering gear of the hull 1, controls the operation of the conveyor belt 3, the cutting roller, and the electric push rod 6 by controlling the corresponding relay, and controls the operation of the duct fan 16 by controlling the electric adjustment. The single-chip microcomputer used in this embodiment is an STM32 single-chip microcomputer.

[0028] The above-mentioned single-chip microcomputer is also wirelessly connected to a remote controller. There are many ways to wirelessly connect the single-chip microcomputer to the remote controller. In this embodiment, the remote controller and the single-chip microcomputer are preferably wirelessly connected through an NRF chip (single-chip radio frequency transceiver chip), that is, NRF chips are installed on both the remote controller and the single-chip microcomputer. The remote controller has two modes: automatic control and manual control. The control mode of the picking boat is switched through the automatic control mode button and the manual control mode button of the remote controller. When it is in manual control mode, each component can be controlled by the remote controller, such as controlling the operation of the conveyor belt 3 through the remote controller, controlling the rotation of the cutting roller and the lifting and lowering of the electric push rod 6 through the remote controller, etc. The staff observes the picking situation. When the picking is finished, the staff controls the hull 1 to return through the remote controller.

[0029] Several infrared sensors are installed at different positions on the upper part of the cabin 2, and the infrared sensors are used to determine whether the cabin 2 is full. When the cabin 2 is full of lotus pods, the lotus pods will be higher than the upper surface of the cabin, and the infrared rays emitted by one of the infrared sensors will sense the lotus pods. At this time, the infrared sensor will send a full cabin signal to the single-chip microcomputer. After receiving the full cabin signal, the single-chip microcomputer will control the cutting roller, the conveyor belt 3, and the duct fan 16 to stop working, and control the electric push rod 6 to drop to the lowest point. The single-chip microcomputer is also connected to an alarm. When the single-chip microcomputer receives the full cabin signal from the infrared sensor, the single-chip microcomputer triggers the alarm to sound the alarm at the same time, so that the staff knows that the picking is over, and then presses the manual control mode button on the remote control to enter the manual control mode and manually control the hull 1 to return.

[0030] Preferably, a solar panel 15 is also installed on the hull 1, and the solar panel 15 serves as the energy supply of the entire harvesting boat. The solar panel 15 is connected to a photovoltaic controller, and the photovoltaic controller is connected to a battery, and the battery is respectively connected to the motor of the electric push rod 6, the duct fan 16, the motor C12, the transmission motor, the motor of the hull 1, and the steering gear to provide energy for them.

[0031] The working process of the present invention is as follows. This embodiment is briefly introduced by taking the automatic control mode as an example: turn on the camera A18 and the camera B19, put the hull 1 into the lake, and after confirming the working environment in the lake, press the automatic control mode button on the remote control, and the hull 1 enters the automatic working mode. First, the single-chip microcomputer controls each relay to start the motor, transmission motor, and motor C12 of the hull 1, and starts the duct fan 16 by controlling the electric regulator. At this time, the camera A18 starts to automatically identify and locate the lotus pod, and sends the positioning signal of the lotus pod to the single-chip microcomputer. The single-chip microcomputer controls the steering gear of the hull 1 to approach the lotus pod according to the lotus pod positioning signal transmitted by the camera A18. When approaching the lotus pod, the single-chip microcomputer controls the lifting and lowering of the electric push rod 6 according to the positioning signal of the lotus pod, thereby controlling the height of the cutting roller. When the hull 1 is close to the lotus pod, the auxiliary cutting rod B14 supports the lotus stem under the lotus pod, and then the lotus pod is cut and picked by the cutting roller. The picked lotus pod falls on the conveyor belt 3, and the lotus pod falls into the cabin 2 behind along the conveyor belt 3, and the miscellaneous leaves are blown into the lake by the duct fan 16. After the picking is completed, the picking end here means that the lotus pod image disappears from the camera A18, and then the camera A18 automatically searches for the next target, and the automatic picking is repeated in this way. When the cabin 2 is full of lotus pods, an infrared sensor at the cabin 2 transmits a full cabin signal to the single-chip microcomputer, and the single-chip microcomputer controls the cutting roller, the conveyor belt 3, and the duct fan 16 to stop working, and controls the electric push rod 6 to drop to the lowest point. At the same time, the single-chip microcomputer triggers the alarm to alarm, and the picking is completed. After hearing the alarm, the staff presses the manual control mode button on the remote control to enter the manual control mode. The staff manually controls the picking boat to return through the remote control. During the return process, if the hull 1 is not within the field of vision of the staff, the staff can control the return according to the positioning signal of the hull 1 on the mobile phone. At this point, the entire picking process is completed.

[0032] During the above-mentioned picking process, if the staff sees a high obstacle on the route on the mobile phone, they can control the motor C12 to reverse through the remote control to clear the obstacle on the route, such as clearing some high stems and leaves without lotus pods.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A novel lotus pod picking boat, comprising a hull (1), wherein the hull (1) comprises a cabin (2) and a deck (4), and is characterized in that: A conveyor belt (3) is installed on the deck (4), one end of the conveyor belt (3) extends out of the hull (1) from the deck (4), and the other end of the conveyor belt (3) is located at the cabin (2). Springs (5) and electric push rods (6) are symmetrically fixed on the decks (4) on the left and right sides of the conveyor belt (3), and a bracket is fixed to the top of the springs (5) on both sides. The bracket is composed of a support rod A (7) along the width direction of the hull (1) and support rods B (8) perpendicular to the two ends of the support rod A (7). The upper end of the electric push rod (6) is fixed to the support rod B (8) through a rotating shaft B, and the support rod B (8) can rotate. A cutting roller is fixed to the inner side of the front ends of the two support rods B (8) through a bearing seat, and the cutting roller comprises two roller brackets (9), a plurality of bidirectional blades (10) are fixed between the roller brackets (9), a rotating shaft C (11) is fixed on the roller bracket (9), and the rotating shaft C (11) is fixed in the bearing seat, and any rotating shaft C (11) is connected to a motor C (12), and the motor C (12) drives the cutting roller to rotate; a camera bracket (17) is also fixed on the deck (4), and a camera A (18) is installed on the camera bracket (17); the motor and the conveyor belt (3) of the hull (1) The transmission motor, the motor C (12), and the motor of the electric push rod (6) are all connected to relays, and each relay is connected to a single-chip microcomputer on the hull; the single-chip microcomputer is connected to the steering gear of the hull, and the single-chip microcomputer is wirelessly connected to a remote controller; the camera A (18) includes an image acquisition module and an image micro-processing module, wherein the image acquisition module acquires the lotus pod image and transmits the acquired lotus pod image to the image micro-processing module, and the image micro-processing module performs image processing, target detection, target motion prediction, and target tracking on the acquired lotus pod image, and the processing result is a positioning signal of the lotus pod image, and the positioning signal is sent to the image micro-processing module. sent to the single-chip microcomputer; the front ends of the support rods B (8) on both sides are also fixed with auxiliary cutting structures, the auxiliary cutting structure comprising auxiliary cutting rods A (13) fixed downwardly on the outer sides of the front ends of the two support rods B (8), and a horizontal auxiliary cutting rod B (14) fixed between the lower ends of the auxiliary cutting rods A (13); the vertical distance between the auxiliary cutting rod B (14) and the rotating shaft C (11) is greater than the radius of the cutting roller; a ducted fan (16) is installed at a position corresponding to the end of the conveyor belt (3) on one side of the cabin (2), the ducted fan (16) is connected to the single-chip microcomputer through an electric regulator, and the ducted fan (16) is connected to the battery.

2. The new lotus pod picking boat according to claim 1 is characterized in that: A camera B (19) is also mounted on the camera bracket (17). The camera B (19) is wirelessly connected to a mobile phone, and the camera B (19) transmits images to the mobile phone in real time. A GPS locator is mounted on the hull (1), and the GPS locator is used to locate the position of the hull (1) and send a positioning signal to the mobile phone.

3. The new lotus pod picking boat according to claim 1 is characterized by: A solar panel (15) is installed on the hull (1), the solar panel (15) is connected to a photovoltaic controller, the photovoltaic controller is connected to a storage battery, the storage battery is connected to a motor of the electric push rod (6), a motor C (12), a transmission motor, an electric motor of the hull (1), and a steering gear, respectively, and the solar panel (15) serves as an energy supply for the entire harvesting boat.

4. The new lotus pod picking boat according to claim 1 is characterized by: A plurality of infrared sensors are installed at different positions on the upper part of the cabin (2). The infrared sensors are used to determine whether the cabin (2) is full. If the cabin is full, the infrared sensors detecting the full cabin will send a full cabin signal to the single-chip microcomputer. The single-chip microcomputer receives the full cabin signal to control the cutting roller, the conveyor belt (3), and the ducted fan (16) to stop working, and controls the electric push rod (6) to drop to the lowest point.

5. The new lotus pod picking boat according to claim 4 is characterized by: The single chip microcomputer is connected to an alarm. When the single chip microcomputer receives a full-tank signal from the infrared sensor, the single chip microcomputer triggers the alarm to sound an alarm.

6. The novel lotus pod picking boat according to any one of claims 1 to 5, characterized in that: The roller bracket (9) of the cutting roller is in the shape of a triangle, and a bidirectional blade (10) is fixed between three vertices of the corresponding roller bracket (9).

7. The novel lotus pod picking boat according to any one of claims 1 to 5, characterized in that: The remote controller and the single-chip microcomputer are wirelessly connected via an NRF chip.

8. The novel lotus pod picking boat according to any one of claims 1 to 5, characterized in that: The camera A (18) is an OpenMV camera.

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